EP0582826B1 - Monitoring device for the drive of an uncoiler - Google Patents

Monitoring device for the drive of an uncoiler Download PDF

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Publication number
EP0582826B1
EP0582826B1 EP93110623A EP93110623A EP0582826B1 EP 0582826 B1 EP0582826 B1 EP 0582826B1 EP 93110623 A EP93110623 A EP 93110623A EP 93110623 A EP93110623 A EP 93110623A EP 0582826 B1 EP0582826 B1 EP 0582826B1
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Prior art keywords
rotation
control device
angle
reel
deviations
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EP93110623A
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German (de)
French (fr)
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EP0582826A1 (en
Inventor
Marko Dipl.-Ing. Tomasic
Erwin Dipl.-Ing. Teltsch
Uwe Dipl.-Ing. Schäfer
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Siemens AG
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Siemens AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/003—Regulation of tension or speed; Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/48—Tension control; Compression control
    • B21B37/52—Tension control; Compression control by drive motor control
    • B21B37/54—Tension control; Compression control by drive motor control including coiler drive control, e.g. reversing mills
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
    • G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means

Definitions

  • the invention relates to a control device for driving a reel, in which periodically recurring, circumferential disturbances, in particular train fluctuations, occur with each revolution, with a device for the angle-dependent detection of deviations of a faulty signal from a predetermined value and with a device for disturbance compensation, which, as a function of the detected deviations, generates a compensation signal, which is shifted in time in advance, for pilot control of the control device.
  • a control device for driving a reel is also known from EP-A-0 477 422, which ensures that a constant or predetermined course of tension occurs in the web to be wound up. Compensation for circumferential disturbances that occur periodically with each revolution is not provided.
  • the object of the present invention is to compensate for the disturbances which are repeated periodically with each rotation in a control device of the type mentioned at the outset.
  • the device for interference compensation for generating the compensation signal integrates the deviations as a function of the angle of rotation for a plurality of ranges of rotation angles resulting from a division of each total rotation of the reel.
  • an integrator for each range of rotation angles from e.g. 15 ° an integrator can be provided.
  • the inputs of these integrators can then be connected depending on the angle of rotation to a signal proportional to the respective deviation.
  • the output signals are advanced, e.g. depending on the individual dead time behavior as compensation signals to the controller.
  • deviation signals e.g. Deviations in the tensile force, in the torque and / or in the reel diameter are used and assigned to the respective angle of rotation range.
  • the output signals can be fed to a circuit for signal processing.
  • Interpolation, derivation, combining several segments, smoothing, etc. carried out and the signals thus formed are used for compensation.
  • the amplitude of the disturbance is also speed-dependent, this can also be taken into account by changing the amplitude of the compensation signals as a function of speed.
  • a steel strip 15 is to be wound on a reel 11.
  • a reel 11 To drive the reel 11 serves an electric motor 12, which receives its control commands from a control 13.
  • This regulation 13 for tensile force and belt speed receives, among other things, a signal proportional to the actual value of the belt tension F i in addition to the setpoint for the belt tension F s and processes these signals.
  • a regulation is known, for example, from the patent application mentioned at the beginning.
  • the setpoint and actual value of the strip tension are fed to a compensation circuit 14, which calculates compensation values F K for the control.
  • These compensation values are different depending on the angle of rotation, ie each circumferential part (zone) 1, 2, 3 etc. to n on the reel 11 is assigned a corresponding angle of rotation range ⁇ .
  • Scope-dependent disturbances can no longer be corrected by an integrator, since the closed control loop has an insufficient base frequency. If, on the other hand, the fault is known, a suitable precontrol can ensure that the fault compensation is activated at the right time. Provided that the disturbance changes only slowly, it can be assumed that the disturbance remains almost constant at one location within two successive revolutions. If an interference integrator is now used for this location, he sees a constant control deviation, which he can reduce by integration. For the n-zones on the circumference, ie for the n-rotation angle ranges ⁇ , n-integrators must also be used, which integrate the control error depending on the angular position. The periodic disturbance is then shown in the n-integrator content. For example, 24 integrators can be used.
  • Fig. 2 shows the circuit implementation of the above strategies.
  • E1, E2, E3 (FIG. 2)
  • a difference between the setpoint and actual value of the strip tension F s - F i a difference between the setpoint and actual torque value or a signal proportional to the difference between the setpoint diameter and the actual diameter can be applied which, of course, can be different in each rotation angle range.
  • This input deviation signal is applied to the individual integrators 6 with the time constant T as a function of the angle of rotation by means of a multiplexer 4. So that not all disturbances are integrated, the integrators are each preceded by a limiting element 5, which only lets a signal through from a certain level.
  • the limited outputs of the integrators 6 are then applied to the control device 13 via a demultiplexer 7, which is also switched as a function of the angle of rotation, in accordance with the aforementioned relationship, by a lead angle ⁇ v as the respective compensation signal F K. So that there are no large jumps in the sequence of the individual compensation values, it may be advisable to smooth out between the individual values.
  • An intermediate signal processing circuit 10 can be used for this purpose, which is indicated by dashed lines.
  • the compensation signal is weighted in a link 8 with a speed-dependent function.
  • speed-dependent activation f c. n i + ⁇ via a computing element 9, the constants c and ⁇ including the integrator tracking time and standardization variables.
  • the integrators are connected in such a way that a DC error is suppressed.

Abstract

The invention relates to a control system for a reel with compensation of periodic fluctuations in tension. For this purpose, the fluctuation in tension for each angular range ( alpha ) of rotation of the reel (11) is determined, integrated and fed to the control system as a compensation signal (FK). <IMAGE>

Description

Die Erfindung betrifft eine Regeleinrichtung für den Antrieb eines Haspels, bei dem sich bei jeder Umdrehung periodisch wiederholende, umfangsabhängige Störungen, insbesondere Zugschwankungen, auftreten, mit einer Einrichtung zur drehwinkelabhängigen Erfassung von Abweichungen eines störungsbehafteten Signals von einem vorgegebenen Wert und mit einer Einrichtung zur Störungskompensation, die in Abhängigkeit von den erfaßten Abweichungen ein demgegenüber zeitlich vorverschobenes Kompensationssignal zur Vorsteuerung der Regeleinrichtung erzeugt.The invention relates to a control device for driving a reel, in which periodically recurring, circumferential disturbances, in particular train fluctuations, occur with each revolution, with a device for the angle-dependent detection of deviations of a faulty signal from a predetermined value and with a device for disturbance compensation, which, as a function of the detected deviations, generates a compensation signal, which is shifted in time in advance, for pilot control of the control device.

Bei einer derartigen, aus der DE-A-4 010 352 bekannten Regeleinrichtung werden periodisch auftretende Haspelzugschwankungen zusammen mit dem jeweils momentanen Drehwinkel des Haspels erfaßt. Ausgehend von den erfaßten Haspelzugschwankungen wird deren periodische Wiederholung vorausberechnet und zur Vorsteuerung der Regelung des Haspels im Sinne einer Kompensation der Haspelzugschwankungen herangezogen. Wie die Vorsteuerung im einzelnen erfolgt, ist der Druckschrift jedoch nicht zu entnehmen.In such a control device known from DE-A-4 010 352, periodically occurring fluctuations in reel tension are recorded together with the instantaneous angle of rotation of the reel. Starting from the detected reel train fluctuations, their periodic repetition is calculated in advance and used to pre-control the regulation of the reel in the sense of compensation for the reel train fluctuations. How the feedforward control takes place, however, cannot be found in the document.

Aus der EP-A-0 477 422 ist ebenfalls eine Regeleinrichtung für den Antrieb eines Haspels bekannt, die dafür sorgt, daß ein konstanter oder vorgegebener Zugverlauf in der aufzuwickelnden Warenbahn auftritt. Eine Kompensation von umfangsabhängigen und bei jeder Umdrehung periodisch auftretenden Störungen ist nicht vorgesehen.A control device for driving a reel is also known from EP-A-0 477 422, which ensures that a constant or predetermined course of tension occurs in the web to be wound up. Compensation for circumferential disturbances that occur periodically with each revolution is not provided.

Beim Wickeln von Stahlbändern ergibt sich das Problem, daß durch das Einspannen des Stahlbandes im Klemmschlitz eine Überhöhung am Haspel entsteht, die beim Auf- und Abwickeln des Bandes zu sprungförmig sich ändernden Haspeldurchmessern führt. Dieser sich schlagartig ändernde Haspeldurchmesser bedeutet eine Abweichung von einem kontinuierlich verlaufenden, der Sollwertvorgabe zugrunde gelegten Durchmesser. Die Änderungen des Durchmessers wiederum verursachen Abweichungen in der Bandgeschwindigkeit. Infolgedessen treten Schwankungen im Bandzug auf, die wiederum zu unerwünschten Dickenfehlern fuhren können. Die Störung im Zugverlauf wiederholt sich periodisch bei jeder Umdrehung. Damit ist ihre Frequenz drehzahlabhängig.When winding steel strips, the problem arises that by clamping the steel strip in the clamping slot, there is an increase in the reel, which leads to sudden changes in reel diameters when the strip is wound and unwound. This suddenly changing reel diameter means a deviation from a continuously running diameter on which the setpoint specification is based. The changes in diameter in turn cause deviations in the belt speed. As a result, fluctuations occur in the strip tension, which in turn can lead to undesirable thickness errors. The disturbance in the course of the train repeats itself periodically with every revolution. This means that their frequency is speed-dependent.

Die Aufgabe der vorliegenden Erfindung besteht darin, bei einer Regeleinrichtung der eingangs genannten Art die sich bei jeder Drehung periodisch wiederholenden Störungen zu kompensieren.The object of the present invention is to compensate for the disturbances which are repeated periodically with each rotation in a control device of the type mentioned at the outset.

Diese Aufgabe wird gemaß der Erfindung dadurch gelöst, daß bei der Regeleinrichtung der eingangs angegebenen Art die Einrichtung zur Störungskompensation zur Erzeugung des Kompensationssignals die Abweichungen drehwinkelabhängig für mehrere, aus einer Aufteilung jeder Gesamtumdrehung des Haspels resultierende Drehwinkelbereiche integriert.This object is achieved according to the invention in that, in the control device of the type mentioned at the outset, the device for interference compensation for generating the compensation signal integrates the deviations as a function of the angle of rotation for a plurality of ranges of rotation angles resulting from a division of each total rotation of the reel.

Schaltungstechnisch kann dabei für jeden Drehwinkelbereich Von z.B. 15° ein Integrator vorgesehen sein. Die Eingänge dieser Integratoren sind dann drehwinkelabhängig an einem der jeweiligen Abweichung proportionalen Signal anschließbar. Die Ausgangssignale werden zeitlich vorverschoben, z.B. je nach dem einzelnen Totzeitverhalten als Kompensationssignale an die Regelung gegeben. Als Abweichungssignale können dabei z.B. Abweichungen in der Zugkraft, im Drehmoment und/oder im Haspeldurchmesser benutzt und dem jeweiligen Drehwinkelbereich zugeordnet werden. Die Ausgangssignale können einer Schaltung zur Signalbearbeitung zugeführt werden. Hier kann z.B. Interpolation, Ableitung, Zusammenfassung mehrerer Segmente, Glättung usw. durchgeführt und die so gebildeten Signale zur Kompensation benutzt werden.In terms of circuitry, for each range of rotation angles from e.g. 15 ° an integrator can be provided. The inputs of these integrators can then be connected depending on the angle of rotation to a signal proportional to the respective deviation. The output signals are advanced, e.g. depending on the individual dead time behavior as compensation signals to the controller. As deviation signals, e.g. Deviations in the tensile force, in the torque and / or in the reel diameter are used and assigned to the respective angle of rotation range. The output signals can be fed to a circuit for signal processing. Here e.g. Interpolation, derivation, combining several segments, smoothing, etc. carried out and the signals thus formed are used for compensation.

Ist, wie im eingangs erwähnten Fall, die Amplitude der Störung auch drehzahlabhängig, kann dies auch dadurch berücksichtigt werden, daß die Amplitude der Kompensationssignale drehzahlabhängig verändert wird.If, as in the case mentioned at the beginning, the amplitude of the disturbance is also speed-dependent, this can also be taken into account by changing the amplitude of the compensation signals as a function of speed.

Anhand eines in der Zeichnung dargestellten Ausführungsbeispiels sei die Erfindung näher beschrieben; es zeigen:

Fig. 1
das Prinzipschaltbild der Gesamtanordnung und
Fig. 2
den Aufbau einer Schaltung zur Erzeugung von Kompensationssignalen.
The invention will be described in more detail using an exemplary embodiment shown in the drawing; show it:
Fig. 1
the schematic diagram of the overall arrangement and
Fig. 2
the construction of a circuit for generating compensation signals.

Wie aus Fig. 1 ersichtlich, soll auf einem Haspel 11 ein Stahlband 15 aufgewickelt werden. Zum Antrieb des Haspels 11 dient ein elektrischer Motor 12, der seine Ansteuerbefehle aus einer Regelung 13 erhält. Diese Regelung 13 für Zugkraft und Bandgeschwindigkeit erhält u.a. neben dem Sollwert für den Bandzug Fs auch ein dem Istwert des Bandzuges Fi proportionales Signal und verarbeitet diese Signale. Eine derartige Regelung ist insgesamt z.B. aus der eingangs genannten Patentanmeldung bekannt. Zusätzlich werden Soll- und Istwert des Bandzuges noch einer Kompensationsschaltung 14 zugeführt, die Kompensationswerte FK für die Regelung berechnet. Diese Kompensationswerte sind drehwinkelabhängig verschieden, d.h. jedem Umfangteil (Zone) 1, 2, 3 usw. bis n am Haspel 11 ist ein entsprechender Drehwinkelbereich α zugeordnet.As can be seen from FIG. 1, a steel strip 15 is to be wound on a reel 11. To drive the reel 11 serves an electric motor 12, which receives its control commands from a control 13. This regulation 13 for tensile force and belt speed receives, among other things, a signal proportional to the actual value of the belt tension F i in addition to the setpoint for the belt tension F s and processes these signals. Such a regulation is known, for example, from the patent application mentioned at the beginning. In addition, the setpoint and actual value of the strip tension are fed to a compensation circuit 14, which calculates compensation values F K for the control. These compensation values are different depending on the angle of rotation, ie each circumferential part (zone) 1, 2, 3 etc. to n on the reel 11 is assigned a corresponding angle of rotation range α.

Umfangsabhängige Störungen, deren Frequenz drehzahlabhängig ist, können nicht mehr durch einen Integrator ausgeregelt werden, da der geschlossene Regelkreis eine zu geringe Eckfrequenz besitzt. Ist dagegen die Störung bekannt, kann durch eine geeignete Vorsteuerung dafür gesorgt werden, daß die Störkompensation zum richtigen Zeitpunkt aufgeschaltet wird. Unter der Voraussetzung, daß sich die Störung nur langsam ändert, kann davon ausgegangen werden, daß innerhalb zweier aufeinanderfolgender Umdrehungen die Störung an einem Ort nahezu konstant bleibt. Wird nun für diesen Ort ein Störintegrator eingesetzt, sieht er eine konstante Regelabweichung, die er durch Integration verringern kann. Es müssen für die n-Zonen am Umfang, d.h. für die n-Drehwinkelbereiche α auch n-Integratoren eingesetzt werden, die abhängig von der Winkelstellung den Regelfehler aufintegrieren. Es bildet sich dann die periodische Störung in den n-Integratorinhalten ab. Es können z.B. 24 Integratoren benutzt werden.Scope-dependent disturbances, the frequency of which depends on the speed, can no longer be corrected by an integrator, since the closed control loop has an insufficient base frequency. If, on the other hand, the fault is known, a suitable precontrol can ensure that the fault compensation is activated at the right time. Provided that the disturbance changes only slowly, it can be assumed that the disturbance remains almost constant at one location within two successive revolutions. If an interference integrator is now used for this location, he sees a constant control deviation, which he can reduce by integration. For the n-zones on the circumference, ie for the n-rotation angle ranges α, n-integrators must also be used, which integrate the control error depending on the angular position. The periodic disturbance is then shown in the n-integrator content. For example, 24 integrators can be used.

Da das System Totzeiten und die Regelung Tiefpaßverhalten besitzen, dürfen die Ausgänge der Integratoren nicht erst dann aufgeschaltet werden, wenn sich das System in ihrem Integrationsintervall befindet. Ihre Wirkung käme dann zu spät. Statt dessen muß um einen Vorhaltewinkel in die Zukunft geschaut werden. Dieser Vorhaltewinkel ergibt sich drehzahlabhängig zu α v = T v . n i + α o

Figure imgb0001
bei ni die momentane Drehzahl des Haspels 11, Tv die Vorhaltezeit und α O ein konstanter Offset-Winkel ist.Since the system has dead times and the control has low-pass behavior, the outputs of the integrators must not be switched on until the system is within their integration interval. Your effect would be too late. Instead, you have to look into the future at a lead angle. This lead angle depends on the speed α v = T v . n i + α O
Figure imgb0001
 at n i the instantaneous speed of the reel 11, T v is the lead time and α O is a constant offset angle.

Fig. 2 zeigt die schaltungsmäßige Realisierung der vorstehend genannten Strategien. An den Eingängen E1, E2, E3 (Fig. 2) kann wahlweise ein der Differenz von Soll- und Istwert des Bandzuges Fs - Fi, ein der Differenz von Momentsoll- und Momentistwert oder ein der Differenz zwischen Solldurchmesser und Istdurchmesser proportionales Signal angelegt werden, welches naturgemäß in jedem Drehwinkelbereich verschieden sein kann. Dieses Eingangs-Abweichungssignal wird drehwinkelabhängig mittels eines Multiplexers 4 den einzelnen Integratoren 6 mit der Zeitkonstante T aufgeschaltet. Damit nicht alle Störungen aufintegriert werden, ist den Integratoren jeweils noch ein Begrenzungsglied 5 vorgeschaltet, das ein Signal erst ab einem bestimmten Pegel durchläßt.Fig. 2 shows the circuit implementation of the above strategies. At inputs E1, E2, E3 (FIG. 2), either a difference between the setpoint and actual value of the strip tension F s - F i , a difference between the setpoint and actual torque value or a signal proportional to the difference between the setpoint diameter and the actual diameter can be applied which, of course, can be different in each rotation angle range. This input deviation signal is applied to the individual integrators 6 with the time constant T as a function of the angle of rotation by means of a multiplexer 4. So that not all disturbances are integrated, the integrators are each preceded by a limiting element 5, which only lets a signal through from a certain level.

Die begrenzten Ausgänge der Integratoren 6 werden dann über einen Demultiplexer 7, der ebenfalls drehwinkelabhängig geschaltet wird, und zwar entsprechend der vorgenannten Beziehung, um einen Vorhaltewinkel αv als jeweiliges Kompensationssignal FK auf die Regeleinrichtung 13 aufgegeben. Damit in der Folge der einzelnen Kompensationswerte keine zu großen Sprünge auftreten, kann es zweckmäßig sein, zwischen den einzelnen Werten zu glätten.The limited outputs of the integrators 6 are then applied to the control device 13 via a demultiplexer 7, which is also switched as a function of the angle of rotation, in accordance with the aforementioned relationship, by a lead angle α v as the respective compensation signal F K. So that there are no large jumps in the sequence of the individual compensation values, it may be advisable to smooth out between the individual values.

Abhängig von der Art des Eingangssignals (Zugkraft, Wellenmoment oder Durchmesser) kann auch eine Ableitung der Ausgänge der Integratoren zweckmäßig sein.Depending on the type of input signal (tensile force, shaft torque or diameter), it may also be appropriate to derive the outputs of the integrators.

Hierzu kann eine zwischengeschaltete Signalbearbeitungsschaltung 10 dienen, diese ist gestrichelt angedeutet.An intermediate signal processing circuit 10 can be used for this purpose, which is indicated by dashed lines.

Da im speziellen Fall des Haspelschlags als periodische Störgröße auch die Amplitude drehzahlabhängig ist, wird das Kompensationssignal mit einer drehzahlabhängigen Funktion in einem Glied 8 gewichtet. Hierdurch werden die Integratoren entlastet und eine schnelle Anpassung an den tatsächlichen Störpegel durchgeführt. Dies geschieht durch drehzahlabhängige Aufschaltung f = c . n i + α

Figure imgb0002
Figure imgb0003
 über ein Rechenglied 9, wobei die Konstanten c und α u.a. die Integratornachführzeit und Normierungsgrößen enthalten. Erwähnt sei auch noch, daß die Integratoren so geschaltet sind, daß ein Gleichfehler unterdrückt wird. Statt der gezeigten Realisierung in Hardware, ist es auch möglich, die einzelnen Integratoren softwaremäßig auf einem oder mehreren Rechnern zu implementieren.Since in the special case of the reel stroke, as a periodic disturbance variable, the amplitude is also speed-dependent, the compensation signal is weighted in a link 8 with a speed-dependent function. As a result, the integrators are relieved and a quick adaptation to the actual interference level is carried out. This is done by speed-dependent activation f = c. n i + α
Figure imgb0002
Figure imgb0003
 via a computing element 9, the constants c and α including the integrator tracking time and standardization variables. It should also be mentioned that the integrators are connected in such a way that a DC error is suppressed. Instead of the implementation shown in hardware, it is also possible to implement the individual integrators in software on one or more computers.

Claims (6)

  1. A control device for driving a reel (11) in which circumference-dependent periodically repeating disturbances, more particularly deviations in tension, occur upon each revolution, comprising means for detecting, as a function of the angle of rotation, deviations of a disturbance-influenced signal (Fi) from a preset value (Fs) and comprising means (14) for disturbance compensation, which as a function of the detected deviations produces a compensating signal (Fk) for pre-controlling the control device (13), the compensating signal being advanced in time, characterised in that the means (14) for producing the compensating signal (Fk) integrates the deviations as a function of the angle of rotation for a plurality of angle-of-rotation segments (α) resulting from a division of each overall rotation of the reel (11).
  2. A control device according to claim 1, characterized in that an integrator (6) is associated with each angle-of-rotation segment (α) and the inputs of the integrators (6) can be connected, as a function of the angle of rotation, in succession to a signal which is proportional to the respective deviation, and the output values of the integrators are output advanced in time with respect to the input signals as compensating signals (Fk).
  3. A control device according to claim 1 or 2, characterized in that the deviations in the tensile force, torque and/or reel diameter are integrated.
  4. A control device according to claim 1, 2 or 3, characterised by means for the smoothing, more particularly interpolation of the compensating signals (Fk).
  5. A control device according to one of claims 1 to 4, characterised by an element (8, 9) for changing the amplitude of the compensating signal (Fk) as a function of the speed of rotation.
  6. A control device according to one of claims 2 to 5, characterised by a device (10) for producing the differentiation of the sequence of the compensating signals (Fk) and for issuing the signals alone or in combination with the output values of the integrators (6).
EP93110623A 1992-07-13 1993-07-02 Monitoring device for the drive of an uncoiler Expired - Lifetime EP0582826B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4223002 1992-07-13
DE4223002 1992-07-13

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EP0582826A1 EP0582826A1 (en) 1994-02-16
EP0582826B1 true EP0582826B1 (en) 1995-10-04

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US (1) US5405098A (en)
EP (1) EP0582826B1 (en)
JP (1) JP3723582B2 (en)
AT (1) ATE128653T1 (en)
DE (1) DE59300711D1 (en)

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Publication number Priority date Publication date Assignee Title
DE102009047822A1 (en) * 2009-09-30 2011-08-04 Seekamp, Erik, Dipl.-Ing., 53773 Method and device for controlling a drive

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE758671A (en) * 1969-11-15 1971-04-16 Siemens Ag SPINDLE WINDING MECHANISMS SPEED ADJUSTMENT DEVICE
JPS5232035B2 (en) * 1972-07-17 1977-08-18
FR2201142A1 (en) * 1972-09-28 1974-04-26 Carnaud & Forges Strip thickness control system - for a reversing cold rolling mill
US4347993A (en) * 1979-11-06 1982-09-07 W. J. Industries, Incorporated Tension monitor means and system
DE3734433A1 (en) * 1987-10-12 1989-04-20 Sucker & Franz Mueller Gmbh METHOD FOR CONTROLLING THE WIND TENSION OF A THREAD SHAFT WHILE FORMING A WIND
DE4010352C2 (en) * 1990-03-28 1993-12-09 Mannesmann Ag Method and device for improving the strip thickness tolerance on a strip rolled on a cold strip rolling mill
EP0477422B1 (en) * 1990-09-28 1993-08-11 Siemens Aktiengesellschaft Uncoiler - traction force controlled

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JPH06166455A (en) 1994-06-14
DE59300711D1 (en) 1995-11-09
JP3723582B2 (en) 2005-12-07
US5405098A (en) 1995-04-11
EP0582826A1 (en) 1994-02-16
ATE128653T1 (en) 1995-10-15

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